Force Sensor coordinate system

Coordinate system in which the Force Sensor detects the force.

It is defined by translation Fx, Fy, Fz and axis rotating Tx, Ty, Tz. Tx, Ty, and Tz represent a clockwise rotation in the positive directions of Fx, Fy, and Fz.

It is Force Sensor-specific and cannot be changed. When using the force functions, force values detected in the Force Sensor coordinate system are automatically converted to those in the force coordinate system.

When the Force Sensor and the 6-axis robot are connected using Epson's sensor flange, the Force Sensor can only be mounted to the robot in one way, so if you compare a robot that is mounted on a tabletop to one mounted on a ceiling, its Force Sensor coordinate system will be rotated by 180 degrees around the TLZ axis in the tool 0 coordinate system, provided 0 Pulse is selected for the posture.